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2008-2011CNRS-LAASCreative Commons 3.0 byOpenRobots Ontology - Common SenseThis ontology is a part of the OpenRobots Ontology (ORO) project.
It covers the "common sense" knowledge and rules, independantly of robotic application (however, only a small subset of common sense, relevant for robotic use cases, is represented).acts onagit surTheme (or Patient) of an action: Entity undergoing the effect of some action
Example: >Mary< fell over.An "agent relative property" is always relative to the point of view of the agent "myself"is behindbelongs toappartient àleads to the static situationcan be performed bycan undertake nowLinks an agent to an action it can starts now. When required, this relationship is to be computed by a planner (or inferred from a model of the human).Links a (physical) container to its (physical) content.(currentlyBodilyDoes AGENT ACTION) means that the (embodied) AGENT is currently performing a non-intentional action ACTION.Denotes that the DOES of the EVENT is currently doing it. It's a temporaly bound version of doneBy.currently performs(currentlyPerforms AGENT ACTION) means that the AGENT is currently performing the intentional ACTION.performedBy is the non-temporaly bound inverse property.
currentlyBodilyDo is another specialization of currentlyDo, for non intentional actions.desiredesireslastsexperiencesvitdescribes a agent that currently *is* in a specific (static) situationfocuses onAn agent is said to focus on an object if and only if it looksAt it AND pointsAt it.describe the main, significant color of the object.What is the color?aims tovise àGoal: Entity towards which something moves.
Example: John went >home<has relative positiona une relation thématique avechas a role relation withis in front ofinvolvesimpliqueam able toare able tocanis able to(isAbleTo AGENT ACTION) says that AGENT it technically/physically able to achieve the ACTION. It does not mean that the agent can do it right now (see canUndertakeNow for this meaning). The ACTION is constrainted to purposeful actions: isAbleTo does not intend to express a fact like "a stone is able to sink into the water".am atare atis atis underest sousis in the focus ofam inare inis inest danshas relative locationdescribe the symbolic position on an object relative to 'myself'.
Values can be:
{NEAR_FAR}_{FRONT LEFT RIGHT BACK}am next toare next tois next tois onest suris left oflooks atregardeDescribes the status of an agent actively looking at an object ('sees' doesn't imply the agent is actively looking at the object, but only that the object is in the field of view of the agent).has main colorhttp://sw.opencyc.org/concept/Mx4r45WD6H7_EdaAAAABAjVgzAWhat is the color?Binds an action to one or several objects which are targetted by the action.
For instance, in the assertion, "I take a cup", "cup" is the ObjectOfAction of "to take".
In the sentence "Jido shows the Eiffel tower to the tourist", the object of action is the Eiffel tower and the receiver is the tourist, as specified by the "receiverOfAction" property.points atDescribes the status of an agent physically pointing at a physical location with a hand.binds an action to a state of the world (a Situation) which is desired as a result (at short or long term) of this action.This property represent the "active form" of the "isReachable" predicate.
?o isReachable true <=> myself reaches ?o
It is meant to be only use through rule inference, and is added to this "ROMAN" scenario specific ontology to ensure fluid interaction with the Natural Language module.received byreçu parLink an action to the object or agent that is a recipient of the action result.
Not to be confused with actionOnObject that denote that the object is the main concern of the action.
Example: John got >Mary< a present.When relevant for the considered action, this property specify the agent or object whose state is eventually modified as a *result* of an action. It is not be the object of action itself (specified by the "objectOfAction" property).
For instance, in the sentence "The robot gives the cup to the human", the human is the final recipient of the cup and hence the recipientOfAction. In the sentence "I place the robot on the chair", the chair is the recipient of action while the robot is the object of the action. In the sentence "Jido shows the Eiffel tower to the tourist", the recipient is the tourist and the object of action is the Eiffel tower.is right ofseeseesvoitA ComplexTemporalPredicate (q.v.) that relates any pair of temporal things such that the first starts after the second ends. (startsAfterEndingOf AFTER BEFORE) means that the time point (see TimePoint) at which AFTER first starts to exist or occur is temporally later than (see after) the time point at which BEFORE finally ceases to exist or occur. Thus it is equivalent to the form (after (StartFn AFTER) (EndFn BEFORE)). That is, the startingPoint of AFTER is later than the endingPoint of BEFORE.Binds a static situation (a state of the world) to the agents involved in the situation.is a task of planThe predicate bodilyDoer relates a given physical event to any organism that is a non-deliberate "doer" of the event (i.e. the organism acts without conscious intention or volition).A very general predicate that relates events to the things that "do" them. (doneBy EVENT DOER) means that DOER is a "doer" in the event EVENT: some activity on the part of DOER causes or carries out EVENT. This predicate is agnostic as to whether DOER does EVENT intentionally or not. Note that DOER need not even be animate or an agent; e.g. the famous vocanic eruption that buried Pompeii was doneBy Mt. Vesuvius. Note also that an event might have more than one doer; consider a chess game.is far fromhttp://sw.opencyc.org/concept/Mx4rWdwvdL9_EdaAAAACs6MxSQis near ofRelates an agent to some object: a "near" object is closer than 1m from the agent.is athttp://sw.opencyc.org/concept/Mx4rvVjQ5JwpEbGdrcN5Y29ycALinks a localizable thing to its location.performed byeffectué parInstigator of some action.
Example: >John< killed Harry.Indicates if an object can be manipulated (knows a grasping point for the object) by the agent myself. Thus, if the object can be manipulated, it is movable as well.Characteristic entity dimension, in centimetersThe characteristic weight of the tangible facet of the object, in grammeshttp://sw.opencyc.org/concept/Mx4rvViA0JwpEbGdrcN5Y29ycAIsDesired is equivalent to (desires MYSELF PROP).
(desire AGT PROP) means that the Agent_PartiallyTangible AGT desires that the world be as the proposition PROP (represented by a CycLSentence_Assertible) describes it to be. desires is implied by goals, but is weaker: PROP might be some desirable state of affairs that the agent is not actively working, or planning, to make/keep true; e.g., world peace.True if one of the object primary function is to hold other objects.
See the temporalProperty holds-Underspecified for a relationship between a holder and a holded object.Indicates if an enduring thing-localized is directly (ie, without moving) visible for the agent (myself).sees: X isInFieldOfView true <=> myself sees XStates if a given artifact is movable by someone (not specifying who).True if the object is currently reachable by agent myself.
Thus an object can not be said to be generally reachable or not.Indicates if an enduring thing-localized is visible (modulo a head movement) for the agent (myself).
This means that the object may not be currently in the field of view of the agent, but only requires the agent to turn the head to see it.An "active concept" is a concept (class or instance) which is considered by the robot to be active at a given time.
"Active" may have several meaning, like "relevant in the current context" or "recently accessed".agentagentGroups both humans and robotshttp://sw.opencyc.org/concept/Mx4rvViAB5wpEbGdrcN5Y29ycAartifactobjectartefactobjetA specialization of InanimateObject. Each instance of Artifact is an at least partially tangible thing which was intentionally created by an Agent_PartiallyTangible (or a group of Agent_PartiallyTangibles working together) to serve some purpose or perform some function. In order to create an instance of Artifact, it is not necessary that an Agent_PartiallyTangible create the matter out of which the Artifact is composed; rather, an Agent_PartiallyTangible can create an instance of Artifact by assembling or modifying existing matter. Examples of Artifacts include a wooden flute that's been whittled from a tree branch, a sawhorse that's been put together out of boards and nails, and a coin that's been minted by embossing or by melting liquid silver into a mold. In addition to the obvious human artifacts (buildings, tools, textiles, power lines), the collection Artifact also includes certain sorts of things made by Animals, such as bird nests, termite mounds, and beaver dams. Artifacts without any tangible parts are excluded from the collection Artifact; they are included in the collection Artifact_Intangible.http://sw.opencyc.org/concept/Mx4rvVkH_ZwpEbGdrcN5Y29ycAaudiotapeaudio tape127body partpartie du corps505502000truehttp://sw.opencyc.org/concept/Mx4rwJaXepwpEbGdrcN5Y29ycAFlaschebottlebouteille0.10.3cardboard boxceillingplafondhttp://sw.opencyc.org/concept/Mx4rvVj3Q5wpEbGdrcN5Y29ycAclothvêtementcolourcouleurhttp://sw.opencyc.org/concept/Mx4rr19QJHStEdaAAACgyZzFrgcontainerconteneurhttp://sw.opencyc.org/concept/Mx4rvVjOGJwpEbGdrcN5Y29ycAThe collection of tangible objects whose primary function is to contain something.covercouvrir105An instance of EligibleAction is an action whose pre-conditions are currently fullfit, thus could possible be started.embodied agentagent incarnéDescribes the emotional state of an agent, like being happy, confused, sad...eyeœilfloorsolhttp://sw.opencyc.org/concept/Mx4rvVj4k5wpEbGdrcN5Y29ycAArtifact used to play with. One notable subclass is 'Toy'.donnergive105graspable objectobjet attrapableheadtêtehumanhumain200140http://sw.opencyc.org/concept/Mx4rvViAkpwpEbGdrcN5Y29ycAjacketveste2A joint attention situation is a situation where an object is the focus of attention of more than one agent.Location is use in its very broad meaning of "a spatial-localized thing". Hence an object is a location, an agent is a location, etc.manipulationmanipulationobstacleobstaclefalsehttp://sw.opencyc.org/concept/Mx4rwJJMaZwpEbGdrcN5Y29ycAopeningouverturephysical supportsupport physiquetrueA PhysicalSupport is a special kind of tangible object which main feature is to hold other tangible objects. It includes walls, floors, tables, shelves...pickprendreplaceendroithttp://sw.opencyc.org/concept/Mx4rvVjTtJwpEbGdrcN5Y29ycAA specialization of EnduringThing_Localized (q.v). Each instance of Place is a spatial thing which has a relatively permanent location.truepointpointA specialization of both Point and SpaceRegion_Empirical (qq.v.). Each instance of Point_Empirical is a zero-dimensional object that belongs to, and thus has a fixed location in, the embedding space of the empirical universe (see #$TheSpatialUniverse-Empirical).
Examples include the location of the center of mass of the Milky Way galaxy at the beginning of the 20th Century. Note that empirical space points are embedded in time; if time is not a significant parameter (i.e. if in an atemporal or temporally agnostic context) consider using Point instead.For ease of use, we use here "Point" as "Point-Empirical" in the Open Cyc ontology. The OpenCyc URI refers to the correct one ("Point-Empirical")http://sw.opencyc.org/2008/06/10/concept/Mx4rwH1QOJwpEbGdrcN5Y29ycAposturepostureputposerreleaselâcherrobotrobothttp://sw.opencyc.org/concept/Mx4rwQr1pJwpEbGdrcN5Y29ycAshapeformehttp://sw.opencyc.org/concept/Mx4rvVjY_5wpEbGdrcN5Y29ycAA symbolic size like large or small has NO absolute meaning. It is always relative to a context.zonezonehttp://sw.opencyc.org/concept/Mx4rvlxdi5wpEbGdrcN5Y29ycAA specialization of both SpatialThing and IntangibleIndividual (qq.v.) whose instances are regions of space that exclusively act as possible locations for other spatial objects, and thus are immobile. A space region might be three-, two-, one-, or zero-dimensional; and spatial objects "occupy" such regions accordingly. Three-dimensional space regions (see SpaceChunk) can be occupied by solid objects. Two-dimensional space regions (or Surfaces) can be occupied by a purely two-dimensional objects. And similarly for one-dimensional space regions (Lines) and zero-dimensional space regions (Points).
Another important specialization of SpaceRegion is SpaceRegion_Empirical, whose instances are pieces of the embedding space for spatio-temporal objects (see SpatialThing_Localized).
For more on spatial location and occupancy, see AbsoluteLocationalPredicate and its instances.truetruetasktâcheAn action considered in the specific context of robotics.time intervalintervalle de tempstime pointA specialization of box used to carry tools.torsotorsetrueA cube, traditionnaly made of wood, meant for children to play with.http://sw.opencyc.org/concept/Mx4rvVjUTpwpEbGdrcN5Y29ycAuncoverdécouvrirvideo tapevideotape2010A magnetic video supportmarkervisual markmarqueur visuelhttp://sw.opencyc.org/concept/Mx4rvVkLmJwpEbGdrcN5Y29ycAwallmurhttp://sw.opencyc.org/concept/Mx4rvVjfapwpEbGdrcN5Y29ycAtruehttp://sw.opencyc.org/concept/Mx4rvVj5V5wpEbGdrcN5Y29ycADefines the portion of space in which an agent can act. It primary relates to actions like taking something.zone of interestzone d'intérêtA specific region of space which has an interest for some purpose.
For instance, a table can have several zone of interests describing parts of the table interessant for the robot (plates, zons in front of chairs,etc.)actionactionhttp://sw.opencyc.org/concept/Mx4rvVioQZwpEbGdrcN5Y29ycAAn action implies several thematic roles (or semantic roles):
We use this list of roles (Aarts 1997: 88), which are mapped to specific predicates :
Agent: The ‘doer’ or instigator of the action denoted by the predicate.
Patient: The ‘undergoer’ of the action or event denoted by the predicate.
Theme: The entity that is moved by the action or event denoted by the predicate.
Experiencer: The living entity that experiences the action or event denoted by the predicate.
Goal: The location or entity in the direction of which something moves.
Benefactive: The entity that benefits from the action or event denoted by the predicate.
Source: The location or entity from which something moves
Instrument: The medium by which the action or event denoted by the predicate is carried out.
Locative: The specification of the place where the action or event denoted by the predicate in situated.The collection of Events (q.v.) that are carried out by some "doer". Instances of Action include any event in which one or more agents effect some change in the (tangible or intangible) state of the world, typically by an expenditure of effort or energy. Note that it is not required that any tangible object be moved, changed, produced, or destroyed for an action to occur; the effects of an action might be intangible. In the context of the OpenRobotOntology, doers of an action are as a matter of fact instances to Agent_PartiallyTangible (q.v.), even if they may not be in a broader context (e.g. a falling rock that dents a car's roof). Depending upon the context, doers of actions might be animate or inanimate, conscious or nonconscious. For actions that are intentional, see PurposefulAction and performedBy.
The object of an action is asserted through the properties objectOfAction and recipientOfAction.apple juicejus de pommearmchairfauteuilbeerDosecancannette0.050.12http://sw.opencyc.org/concept/Mx4rvVj-85wpEbGdrcN5Y29ycAchairchaisebeveragedrinkboissonspatial enduring thinglieu physiquehttp://sw.opencyc.org/concept/Mx4ro3lluGJHQdiVxrZReHS-jQA specialization of both SpatialThing_Localized and SomethingExisting (qq.v.). Each instance of EnduringThing_Localized is a spatial enduring thing at which an event can occur or a situation can obtain. Positive examples include planets, the borders between countries, human beings, rocks, and atoms. Negative example include situations, events, abstract objects, and regions of space that exclusively act as possible locations for other spatial objects (see SpaceRegion). An important specialization of EnduringThing_Localized is Place (q.v.). The salient distinction between places (instances of Place) and locations (instances of EnduringThing_Localized) is that places are assumed to have relatively permanent locations, whereas locations need not have permanent locations. Thus, from the perspective of someone standing on a beach, the crest of a breaking wave can be a location at which foaming is occuring (thus an EnduringThing_Localized), but it cannot be such a place (i.e. it cannot be an instance of Place).eventévènementhttp://sw.opencyc.org/concept/Mx4rvViADZwpEbGdrcN5Y29ycAfluidfluideA specialization of EdibleStuff (q.v.). Each instance of FoodOrDrink is a substance which instances of some type of organism (that is, some sub-collection of Organism_Whole) normally consume a significant part of. Important specializations of FoodOrDrink include Food (instances of which require chewing in order to be consumed) and Drink (instances of which are liquids that can be consumed without chewing).furnituremeublehandmainliquidliquidetrueorange juicejus d'orangehttp://sw.opencyc.org/concept/Mx4rvVj27ZwpEbGdrcN5Y29ycAA subcollection of EnduringThing_Localized and TemporalThing. Each instance of PartiallyTangible has a tangible (i.e. material) part and a temporal extent (i.e. it exists in time). It might or might not also have an intangible part. For example, a particular copy of a book is made of matter, has temporal extent, and also has an intangible part: the information content of the text markings on its pages.planthing with a temporal extendplanpurposeful actionaction volontairehttp://sw.opencyc.org/concept/Mx4rvVieP5wpEbGdrcN5Y29ycAA specialization of both Action and AtLeastPartiallyMentalEvent. Each instance of PurposefulAction is an action consciously, volitionally, and purposefully done by (see performedBy) at least one actor.restreposThe collection of events in which an animal abstains from strenuous physical activity.situationsituationhttp://sw.opencyc.org/concept/Mx4rvYjIS5wpEbGdrcN5Y29ycAEach instance of Situation is a state or event consisting of one or more objects having certain properties or bearing certain relations to each other. Notable specializations of Situation are Event and StaticSituation; it is disjoint with SomethingExisting.couchsofacanapésodasoft drinkspatial thingchose spatialeA specialization of Individual. The collection of all things that have a spatial extent or location relative to some other SpatialThing or in some embedding space. Note that to say that an entity is a member of this collection is to remain agnostic about two issues. First, a SpatialThing may be PartiallyTangible (e.g. Texas-State) or wholly Intangible (e.g. ArcticCircle or a line mentioned in a geometric theorem). Second, although we do insist on location relative to another spatial thing or in some embedding space, a SpatialThing might or might not be located in the actual physical universe. It is far from clear that all SpatialThings are so located: an ideal platonic circle or a trajectory through the phase space of some physical system (e.g.) might not be. If the intent is to imply location in the empirically observable cosmos, the user should employ this collection's specialization, SpatialThing-Localized.http://sw.opencyc.org/concept/Mx4rvVjpUZwpEbGdrcN5Y29ycAlocationlieuhttp://sw.opencyc.org/concept/Mx4rwS68M5wpEbGdrcN5Y29ycAA specialization of both SpatialThing and TemporalThing. This is the collection of all spatial things, tangible or intangible, that can meaningfully be said to have location or position in the empirical universe.
Examples of spatially-localized things include all PartiallyTangible things, such as trees and ships, as well as certain Intangible spatial things, like the EarthsEquator. Also included are those events that can be pinned-down to specific places (see Event-Localized), and thus all PhysicalEvents. Excluded from this collection are any SpatialThings that are not localized, such as -- arguably -- purely abstract geometrical figures (e.g. a Platonic sphere).
Note that a fictional or imaginary object (such as Frodo, Captain Queeg, or HAL9000-TheComputer) is typically localized with respect to the universe of the fictional/imagnary context in which it is found, and so is an instance of SpatialThing-Localized with respect to that context.static situationsituation statiqueA specialization of Situation. Each instance of StaticSituation is a state of affairs between two or more things, persisting statically over some time interval. IE, a state of the world.http://sw.opencyc.org/concept/Mx4rvh5TfJwpEbGdrcN5Y29ycAtabletable50300temporal thingchose temporellewinethingchoseblacknoirA proto-black: a generic instance of the colour black.bluebleuA proto-blue: a generic instance of the colour blue.box shapedparallélipédiqueA proto-cube: the most generic instance of the class of shapes "cube".current world stateétat courant du mondeBy convention, the current static situation representing the state of the world as understood by 'myself'.cylindricalcylindriqueA proto-cylinder: the most generic instance of the class of shapes "cylinder".graygreygrisA proto-grey: a generic instance of the colour grey.greenvertA proto-green: a generic instance of the colour green.myselfmoi-même"Myself" is always the cognitive agent who owns the current instance of the ontology.orangeorangeA proto-orange: a generic instance of the colour orange.pinkroseroseA proto-pink: a generic instance of the colour pink.redrougeA proto-red: a generic instance of the colour red.sittingassisphericalsphériqueA proto-sphere: the most generic instance of the class of shapes "sphere".standingdeboutunknown locationposition inconnueThis special location denote an unknown spatial location. The typical use case is when an object is expected to be found somewhere, but is not actually there, it is in an UnknownLocation.violetvioletA proto-violet: a generic instance of the colour violet.whiteblancA proto-white: a generic instance of the colour white.yellowjauneA proto-yellow: a generic instance of the colour yellow.